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1) An airtight seat. The two airtight seats in the game are the Diving Bell and the Spaceship Cockpit.
2) Propulsion. Underwater Propellers work best for this, but you could make your own advanced propulsion using mechanical blocks and whatnot if you want. I recommend just using the Underwater Propellers.
3) A steering mechanism. Ailerons that you would put on planes work just the same on submarines underwater. Just use flap wings or tailfins/wing blocks attached to rotating servos or hinges and place them wherever works best on your submarine.
Another thing you could add to--but don't need for--your submarine are the inflatable ballast blocks, but those are really only meant for realistic submarines that do not work like planes in water (they don't pitch or roll much, if at all).
Hope this helps! :)